Merge pull request #12641 from AndreaCatania/bullet

Bullet physics wrapper

1 files changed, 112 insertions, 0 deletions

diff --git a/modules/bullet/pin_joint_bullet.cpp b/modules/bullet/pin_joint_bullet.cpp
new file mode 100644
index 0000000000..cd9e9a4557
--- /dev/null
+++ b/modules/bullet/pin_joint_bullet.cpp
@@ -0,0 +1,112 @@
+/*************************************************************************/
+/*  pin_joint_bullet.cpp                                                 */
+/*  Author: AndreaCatania                                                */
+/*************************************************************************/
+/*                       This file is part of:                           */
+/*                           GODOT ENGINE                                */
+/*                    http://www.godotengine.org                         */
+/*************************************************************************/
+/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur.                 */
+/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md)    */
+/*                                                                       */
+/* Permission is hereby granted, free of charge, to any person obtaining */
+/* a copy of this software and associated documentation files (the       */
+/* "Software"), to deal in the Software without restriction, including   */
+/* without limitation the rights to use, copy, modify, merge, publish,   */
+/* distribute, sublicense, and/or sell copies of the Software, and to    */
+/* permit persons to whom the Software is furnished to do so, subject to */
+/* the following conditions:                                             */
+/*                                                                       */
+/* The above copyright notice and this permission notice shall be        */
+/* included in all copies or substantial portions of the Software.       */
+/*                                                                       */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
+/*************************************************************************/
+
+#include "pin_joint_bullet.h"
+#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"
+#include "bullet_types_converter.h"
+#include "rigid_body_bullet.h"
+
+PinJointBullet::PinJointBullet(RigidBodyBullet *p_body_a, const Vector3 &p_pos_a, RigidBodyBullet *p_body_b, const Vector3 &p_pos_b)
+	: JointBullet() {
+	if (p_body_b) {
+
+		btVector3 btPivotA;
+		btVector3 btPivotB;
+		G_TO_B(p_pos_a, btPivotA);
+		G_TO_B(p_pos_b, btPivotB);
+		p2pConstraint = bulletnew(btPoint2PointConstraint(*p_body_a->get_bt_rigid_body(),
+				*p_body_b->get_bt_rigid_body(),
+				btPivotA,
+				btPivotB));
+	} else {
+		btVector3 btPivotA;
+		G_TO_B(p_pos_a, btPivotA);
+		p2pConstraint = bulletnew(btPoint2PointConstraint(*p_body_a->get_bt_rigid_body(), btPivotA));
+	}
+
+	setup(p2pConstraint);
+}
+
+PinJointBullet::~PinJointBullet() {}
+
+void PinJointBullet::set_param(PhysicsServer::PinJointParam p_param, real_t p_value) {
+	switch (p_param) {
+		case PhysicsServer::PIN_JOINT_BIAS:
+			p2pConstraint->m_setting.m_tau = p_value;
+			break;
+		case PhysicsServer::PIN_JOINT_DAMPING:
+			p2pConstraint->m_setting.m_damping = p_value;
+			break;
+		case PhysicsServer::PIN_JOINT_IMPULSE_CLAMP:
+			p2pConstraint->m_setting.m_impulseClamp = p_value;
+			break;
+	}
+}
+
+real_t PinJointBullet::get_param(PhysicsServer::PinJointParam p_param) const {
+	switch (p_param) {
+		case PhysicsServer::PIN_JOINT_BIAS:
+			return p2pConstraint->m_setting.m_tau;
+		case PhysicsServer::PIN_JOINT_DAMPING:
+			return p2pConstraint->m_setting.m_damping;
+		case PhysicsServer::PIN_JOINT_IMPULSE_CLAMP:
+			return p2pConstraint->m_setting.m_impulseClamp;
+		default:
+			WARN_PRINTS("This get parameter is not supported");
+			return 0;
+	}
+}
+
+void PinJointBullet::setPivotInA(const Vector3 &p_pos) {
+	btVector3 btVec;
+	G_TO_B(p_pos, btVec);
+	p2pConstraint->setPivotA(btVec);
+}
+
+void PinJointBullet::setPivotInB(const Vector3 &p_pos) {
+	btVector3 btVec;
+	G_TO_B(p_pos, btVec);
+	p2pConstraint->setPivotB(btVec);
+}
+
+Vector3 PinJointBullet::getPivotInA() {
+	btVector3 vec = p2pConstraint->getPivotInA();
+	Vector3 gVec;
+	B_TO_G(vec, gVec);
+	return gVec;
+}
+
+Vector3 PinJointBullet::getPivotInB() {
+	btVector3 vec = p2pConstraint->getPivotInB();
+	Vector3 gVec;
+	B_TO_G(vec, gVec);
+	return gVec;
+}